ROS Glass Tools

Motivation and Goals

Robot systems frequently have a human operator in the loop directing it at a high level and monitoring for unexpected conditions. In this project we aim to provide an open source toolset to provide an interface between the Robot Operating System (ROS) and the Google Glass. The Glass acts as a heads up display so that an operator monitoring vehicle state can simultaneously view its actions in the real world. In addition to monitoring the project aims to harness the voice recognition of the Glass to allow robot voice control. The project also aims to be easily extensible so it can be used to monitor and control a multitude of robot systems using the Glass. More information on the tools can be found at http://wiki.ros.org/ros_glass_tools.

Communication

Tools

GlassTopicViewer

This application allows users to monitor ROS topics in a heads-up display on the Google Glass. Users can view all the fields in a message or select a specific field to view either graphically or textually.

GlassROSMonitor

This application starts a background service that displays a warning message if the system performs an unexpected behavior or enters a dangerous state. This allows the user to focus their attention elsewhere, knowing that they will receive a warning if the system enters a state that requires intervention.

RobotVoiceControl

This application allows an operator to control one or more robots using the voice recognition features of the Glass. When activated, the program prompts the user for voice input and sends the spoken command to ROS. The actions of the voice command as well as which commands are recognized by the application are highly customizable and can be used to command any robotic system running ROS.

People

This work was partially supported by USDA-AFRI 2013-67021-20947, AFOSR FA9550-10-1-0406,
NSF CSR-1217400, and the University of Nebraska iLab. People working on this project include: